In this document is described how robot Lexium MAX R3 was prepared for movements
and other tasks. From constructing the control cabinet, setting inductive sensors
that define the working space and safety switches, robot system was prepared for
turning on. With programing support SoMove the regulation parameters of velocity,
position and current loops were calculated. Parameters of CAN communication were
also set, such as baud rate and servo drive LXM32A addresses without which controller
LMC058 couldn’t achieve successful communication with them. Connecting the
controller to computer with programing support SoMachine the configuration started.
By selecting the right model and series of servo drives, HMI and setting the communication
parameters the robot system was connected in closed loop. Programing with
function blocks moving from point to point and continuous movement were achieved.
Also, the problems of direct and inverse cinematics were solved so controlling of tool
tip is possible.